基于ARM-Linux的无人驾驶拖拉机自动导航控制系统  

Automatic Navigation Control System of Driverless Tractor Based on ARM-Linux

作　　者：牛鑫[1] Niu Xin(Department of Electrical Engineering,Jiyuan Vocational and Technical College,Jiyuan 459000,China)

机构地区：[1]济源职业技术学院电气工程系,河南济源459000

出　　处：《农机化研究》2023年第11期264-268,共5页Journal of Agricultural Mechanization Research

基　　金：河南省高等职业院校创新发展行动计划项目(XM0177)。

摘　　要：介绍了无人驾驶拖拉机整体框架,基于GNSS系统实现了拖拉机定位功能,并基于PID技术设计了拖拉机转向控制系统;然后,基于ARM-Linux设计了拖拉机导航控制系统的软硬件部分,实现了拖拉机转向的精准控制和自动导航。实验结果表明:无人驾驶拖拉机自动导航控制系统具有有效性和准确性,且转角误差在预期内,间接证明了拖拉机在出现横向偏差时,可以进行自适应调节。It first introduces the overall framework of the driverless tractor,then realizes the tractor positioning function based on GNSS system,realizes the tractor steering control system based on PID technology,and then designs the software and hardware of the tractor navigation control system based on ARM-Linux to realize the precise control and automatic navigation of the tractor steering.The experimental results show that it greatly improves the effectiveness and accuracy of the automatic navigation control system of the unmanned tractor because the angle error is within the expected range,which indirectly proves that the tractor can carry out adaptive adjustment when there is lateral deviation.

关 键 词：拖拉机 无人驾驶 GNSS PID ARM-Linux导航 转向控制 

分 类 号：S219.07[农业科学—农业机械化工程] S220.39[农业科学—农业工程]